Adaptable Socket System, Method, and Kit

ABSTRACT

An adjustable socket system, method, and kit for use with prosthetic devices or orthotic, orthopedic, or exoskeletal support devices that includes a paddle and a compressing device coupled to the paddle. The paddle is chosen from a plurality of paddles of different shapes in such a way that the paddle inner surface is substantially coextensive with a soft tissue area overlying skeletal structures. The compressing device presses the paddle against the soft tissue area in order to minimize the motion of the paddle relative to the underlying skeletal structures without causing discomfort to the user or compressing areas not in contact with the paddle, allowing compressed tissue to flow into uncompressed areas. The system, method, and kit can include an external tool, sensors, actuators, and controllers, to assist fitting and for adjustment after fitting. A stabilizer can be added to resist the bending force on the paddle.

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of priority from U.S. ProvisionalPatent Application No. 61/732,493, filed Dec. 3, 2012, and U.S.Provisional Patent Application No. 61/720,934, filed Oct. 31, 2012, bothof which applications are incorporated in their entirety by referenceherein.

FIELD OF THE INVENTION

The present invention relates to the prosthetic limbs worn by upper orlower limb human or animal amputees and in particular, to the portionsof limb prostheses that are in direct contact with the user's limb. Italso relates to orthotic support devices applied and worn to support orsupplement weakened or abnormal joints or limbs. It also relates toimmobilizing injured skeletal structures and associated muscles, joints,and ligaments, for example, using orthopedic support devices in thefield of orthopedics. Finally, it relates to the human or animalinterface component of exoskeletal support devices and associatedmachines, or systems.

BACKGROUND OF THE INVENTION

A conventional prosthesis socket is generally circular in cross sectionand consists of an inner socket to interface with the user's skin and anouter socket over it that incorporates the mechanisms that comprise anadditional structure, for example, an artificial joint or a device tofunction as a foot or gripping device. The inner and outer sockets maybe separate structures or may consist of a single unit.

The term “interface” is used by some in the field as a synonym forsocket, but in this disclosure the term “socket” is used exclusively.

The term “cast” conventionally refers to a thin layer of wet plasterimpregnated gauze wrapped around a residual limb and the surroundingbody parts and then permitted to harden to reproduce the shape of thelimb. While the plaster is hardening, pressure from the hands of theplaster technician often modifies the shape to accommodate theunderlying boney anatomy.

The term “positive model” refers to the plaster model that results fromfilling a cast with plaster or similar material. Modifications by addingand subtracting plaster are made to the positive model before its outersurface is used to define the shape of the user's socket.

The term “check socket” is a temporary socket made using the positivemodel and used to test whether the modifications have had the desiredeffect on the fit of the resulting socket.

Historically the socket for prosthetic applications has been a generallycylindrical socket that merely surrounds the remaining limb part withsome contouring of the proximal brim so that it will accommodate theshape of the next proximal joint or body part. Typically, this socket ismade by taking a plaster cast over the limb and filling it with plasterto form a positive model of the limb. Minor changes are made to thisshape to conform to boney prominences. When the positive model is usedto create a socket by laminating or thermoforming a layer of plasticover the model, the resulting socket primarily encapsulates the limbpart.

Some improvements have been made in the conventional socket. Inparticular, many technicians replace the fully encapsulating outersocket with a frame having one or more openings. This change isaccompanied by making the inner socket of a flexible material. Theresulting frame-style design usually is more comfortable. New materialssuch as carbon fiber composites add rigidity where needed especially inopen frame designs. New flexible materials allow the socket wall to flexin some areas for comfort. Even when these newer flexible materials areused, the soft liner still fully encapsulates the remaining limb asconventionally done and, thus, provides a compressive or elastic forceto all of the limb's soft tissue.

Conventional laminations over a positive model work best when thesurfaces of the positive model are convex facing outward, following thegeneral contours of the outside surface of the limb.

Fitting a conventional socket is a multistage process involving creatinga cast, waiting for it to dry, making a positive model of the initialcast, waiting for it to dry, creating a test socket, waiting for it todry, adjusting the positive model, and then finally creating the finalsocket. To tailor further the fit to the patient, the castings removedfrom each mold usually must be further shaped, often by hand, to achievethe comfort and wearability required by the user.

Thus, the user of these conventional sockets is faced with thedisadvantage of spending an extensive period of time being fit with thesocket, and may need to visit the offices of the socket designer severaltimes over the course of having the socket fit. A secondary disadvantageof this conventional method of making the socket is its expense due tothe need for a skilled professional to handcraft the socket during thetime intensive fitting process.

SUMMARY OF THE INVENTION

An overlooked disadvantage of conventional sockets is the lost motionbetween the socket walls and the underlying skeletal structures whenforce is applied between the two as would occur as an amputee tries tomove the prosthesis as a whole. In a conventional socket, lost motionoccurs when the bone moves towards the socket wall a substantialdistance before imparting force to the wall. The conventional socketmerely contains the soft tissue but does little or nothing to preventlost motion between the socket and the underlying skeletal structure.Thus, users of these conventional sockets are left with no choice but toaccept a degree of disassociation between the physical movements of thebody part in the socket and the resulting movement of the socket andattached prosthetic. The fields of orthotics, orthopedics, andexoskeletal support devices similarly have overlooked this disadvantage.In the case of orthotics or orthopedics, this disadvantage can lead tore-injury, poorer correction, or longer periods for successfulrehabilitation.

The concept of capturing the lost motion through skeletal compressionand tissue displacement can be understood from a simple observationusing a procedure such as described in this paragraph. A person (the“subject”) holds her arm in a fixed position so that an observer cannoteasily move the arm side to side. The observer then pushes with a fingeron the fleshy area over the long bone of the upper arm. Duringcompression, tissue moves aside, away from the area of compression.Typically, the finger will push into the soft tissue a distance of acentimeter or more before it compresses the tissue against the bone andno further motion is possible without the subject moving. The reverse isalso true. If the finger is held steady, just touching the fleshy area,and the subject pushes her arm against the finger, the finger will pushinto the soft tissue the same distance before the arm stops because thefinger has compressed the tissue against the bone as in the firstexample. This distance the arm travels towards the finger before the armstops represents the lost motion. Once the arm has stopped, the lostmotion has been captured in accordance with the principles of theinvention and no additional motion will be lost if the subject continuesto move his or her arm against the finger.

It is also to be appreciated that the cross sectional dimension of thesubject's arm at the point of compression over underlying bone will beless in the direction of the compression than it was prior to thecompression (when the arm was “at rest”). Conversely, the crosssectional dimension of the arm adjacent to the point of compression willbe larger in the direction of the compression than it was prior tocompression. In each case, this is because the tissue flows away fromthe compression and bulges up against adjacent tissue in the same mannerwater flows away from a compressive force and against adjacent watercreating a wave crest that is taller than the pre-compression, “at rest”water level. Thus, it is a principle of the lost motion capture conceptthat, unless constrained, the cross sectional dimensions of a body partsubjected to compression over underlying bone will be reduced andincreased through skeletal compression and tissue displacement relativeto the at rest cross sectional dimensions of the body part.

In accordance with the principles of the invention, an adjustable socketsystem, method, and kit, (collectively referred to herein as “theRapidly Adaptable Socket System” or “RAS System”) solves the problem oflost motion between the skeletal structure and socket walls and theexpensive and time consuming fitting process by combining a compressingdevice which itself is also a fitting tool with paddles that displaceexcess tissue, capture underlying skeletal structures using optimaltissue compression selectable to ensure wearability, and permits theuser to simply wear the fitting tool and paddles as the new socket whenthe fitting process is complete. Additional embodiments of the inventionenhance the solution by allowing manual or automatic post-fittingadjustments so that changes in the user's body mass, tissue volume, oractivity level, or fitting corrections can be made by the user or socketdesigner without reiterating the conventional fitting process. Finally,further embodiment variations solve the fitting and adaption processproblem by mounting electronics on the RAS, or external fitting tools,or both, which allow monitoring, recording, or controlling the RAS fitin accordance with the principles of the invention

The following terms have the following meanings in this disclosure:

The term “relief area” describes the region in the RAS adjacent to oneor more paddles where displaced tissue is released after it flows fromthe area compressed by such paddles.

The term “paddle” describes the bar used to compress the skeletalstructure of the target.

The term “optimal tissue compression” describes the compression force ofthe RAS paddles against soft tissue overlying skeletal structure suchthat lost motion between the RAS and the underlying skeletal structuresis minimized without causing discomfort to the user for a usable amountof time.

The term “usable amount of time” describes the amount of time the RASdesigner or user expects to wear the socket on a typical day or for aplanned activity.

The term “target” refers to the remaining limb of an amputee, an arearequiring orthotic rehabilitation or support, an injured area requiringimmobilization, or a part of the body fitted with an exoskeletal supportdevice.

The term “target area” is synonymous with “areas of compression” andrefers to the area of the target selected by the socket designer for RASpaddles as, for example, disclosed in U.S. Pat. No. 8,323,353, which isincorporated herein in its entirety by this reference.

The term “nonpaddle area” describes the area of the target that is not atarget area.

Embodiments of the RAS include an adapter attached to one or morecompression paddles through paddle connectors. The compression paddlesextend away from the adapter in the direction of the target, forming abowl, cup, or box shaped container configuration where the adapter is atthe bottom of the container and the paddles and relief area between thepaddles alternate along the sides or walls of the container with theflat surfaces of the paddles generally flush with the inner surface ofsuch container walls. The container forms a receptacle or open cage thatcan receive and compress the target's skeletal structure by moving thepaddles inwardly towards the center of the container in accordance withthe principles of the invention.

In one embodiment, the socket designer selects each paddle from aplurality of paddles of different shapes, including different widths,lengths, thicknesses, and curvatures. For example, a socket designer maycheck to see if a particular paddle selection rocks end-to-end whenpressure is shifted, in which case the socket designer would choose adifferent shaped paddle that does not rock end-to-end. In a variation ofthis embodiment, the plurality of paddles may be premanufactured andsold in a kit along with an adapter. In still another embodiment, thesocket designer may manufacture paddles as needed and keep available hisown inventory of preconfigured paddle shapes to fit a variety of user.

In a preferred embodiment, the paddle lengths are selected so that theyrun virtually the entire length of the bone in the target, ending justshort of the bone ends, however, shorter paddle lengths can be selectedin particular applications. When compressed, the inner surfaces of thepaddles compress the target's tissue against the bone to impart optimaltissue compression.

In a preferred embodiment where the length of the bone in the target issubstantially shorter than the length of the body part overlying thebone, the paddle lengths are selected so that they run beyond the lengthof the bone in the target in order to apply compression to tissue beyondthe bone ends to supplement the association between the physicalmovement of the bone and the resulting movement of the paddles by alsocapturing the motion of the tissue beyond the bone ends. In thisembodiment, the optimal tissue compression also describes thissupplemental compression force on the RAS paddles against the softtissue beyond the bone ends.

Embodiments of the RAS include immovable paddles, once they are adjustedfor the target, or adjustable paddles that the socket designer or theuser can move inwards or outwards from the container center to increaseor decrease compression, respectively, in order to, for example, finetune the compression, adjust for changes in body mass or volume, oradjust for variations in the optimal tissue compression for differentactivities.

In some embodiments, the compression can be achieved using manualcompression. In other embodiments, actuators and a controller are usedto compress the paddles. In both the manual or automatic compressionembodiments, feedback from sensors that detect pre-programmed paddlepositions, real-time activity levels, pressure levels, physiologicalconditions of the target, or combinations of such feedback, allow formanual or automatic optimization and adjustment to the compression.

In some embodiments, the RAS is part of a system that includes anexternal positioning tool, which can include the tool's own sensors andelectronics, for positioning paddles and achieving optimal tissuecompression. The RAS system may also include customizable shims mountedon the paddles to achieve a better fit with the target.

Other embodiments include stabilizers or a stabilizer ring to counteractthe bending force on paddles at a distance away from the adapter. Insome embodiments, a membrane serves as a location to mount sensors andother electronics for monitoring and controlling compression, or toincrease friction between the target and the RAS to enhancestabilization, control, and suspension of the RAS by reducing vertical,rotational, and translational motion of the target within the RAS duringall phases of the gait cycle and while, for example, the user isstanding or sitting.

In another embodiment, the adapter is omitted and one or more ringstabilizers maintain the relative position of the paddles around thecontainer. In orthotic or orthopedic embodiments of the RAS, the paddlesare especially configured to interface with different parts of the bodyto correct or stabilize these body parts. In exoskeletal embodiments ofthe RAS, the paddles are especially configured to interface withdifferent body parts to provide attachments points for desiredexoskeletal applications.

In some embodiment of the RAS System, the user wears a liner between thetarget and the RAS to increase friction and interconnection between thetarget and the RAS to enhance stabilization, control, and suspension byreducing vertical, rotational, and translational motion of the targetwithin the RAS and to support and contain soft tissue such that underweight-bearing or non-weight-bearing conditions the target iscomfortably supported and contained during all phases of the gait cycleor, for example, while the user is standing, sitting, or lying down. Inother embodiments, the liner incorporates one or more rings or patchesof semi-flexible material to increase soft tissue support andcontainment in regions selected by the socket designer.

Some embodiments of the liner, fully encapsulate the target asconventionally done, and thus provide a compressive or elastic force toall of the limb's soft tissue in order to minimize edema.

In variations of the embodiments, the RAS system includes transducer(e.g., accelerometer, strain gauge, slip detector, pressure sensor,oximeter, angle position sensor, or actuator), processor, amplifier,input/output devices, or memory devices, and a power source for sensing,recording, transmitting, or controlling adapter, membrane, paddle, orstabilizer position, orientation, and relative motion, and physiologicalparameters of the target (for example, temperature or blood oxygenlevels). Some RAS system embodiments are integrated with a computer,which can be a smart phone device, so that the user or socket designercan control or monitor the RAS through a wired or wireless communicationlink to the computer.

While the embodiments disclosed above have application in the field ofprosthetics, in orthotic or orthopedic embodiments, the lost motioncapture and adjustability principles of the invention are applied usingRAS paddles to control motion of bone across a facture or bones sharinga common joint to immobilize such fractures or joints or support jointsin order to promote healing or correction, while allowing compressionforces to be varied over time for therapeutic benefit, comfort, or forparticular activities that may require more or less immobilization orsupport.

The principals of the invention are also applied in exoskeletalembodiments where the user is, for example, not an amputee, but requiresa socket device that captures lost motion of the underlying skeletalstructure to which the socket attaches in order, for example, toimmobilize a joint, increase the load bearing strength of skeletalstructures, or increase the association between the physical movement ofthe skeletal structure and the resulting movement of the RAS. A furtheradvantage of the RAS system in exoskeletal applications is that itallows user adjustments in the field and the RAS can be adjusted to fitdifferent users who may need to use the exoskeletal application atdifferent times.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of a RAS with a stabilizer, paddleconnectors, paddles, rotatable connectors, and a prosthetic device;

FIG. 2 is a perspective view of a RAS on an external positioning tool;

FIG. 3 is a perspective view of a RAS being fitted to an amputee usingan external positioning tool;

FIG. 4 is a top view of a RAS showing paddle adjustment mechanisms;

FIG. 5 is a perspective view of the bottom of an upper adapter plate;

FIG. 6 is a perspective view of a bottom adapter plate;

FIG. 7 is a top view of an upper adapter plate;

FIG. 8 is a side view of a RAS depicting a fine adjustment leadscrew andoutwardly angled preconfigured paddle connectors;

FIG. 9 is a perspective view of an assembled adapter;

FIG. 10 is a bottom view of a bottom adapter plate;

FIG. 11 is a perspective view of a paddle adjustment mechanism;

FIG. 12 is a perspective view of a RAS with paddle connectors, paddles,and an adapter connected using locking pins;

FIG. 13 is a perspective view of a RAS with paddles and paddle posts;

FIG. 14 is a perspective view of a RAS with sensors, a controller, andactuators, and an external smart phone;

FIG. 15 is a perspective view of a RAS showing a shim, liner, paddles,and stabilizer with raised and recessed features;

FIG. 16 is a perspective view of a RAS without an adapter;

FIG. 17 is a perspective view of a RAS with a large stabilizer;

FIG. 18 is a perspective view of a RAS with a single membrane betweentwo paddles;

FIG. 19 is a perspective, cut-away view of a RAS with a circumferentialmembrane;

FIG. 20 is a perspective view of a RAS used as a knee brace on aninjured joint;

FIG. 21 is a perspective view of a RAS used as an exoskeletal device onan upper limb;

FIG. 22 is a perspective view of a liner with different durometer ringsand patches;

FIG. 23 is a perspective view of a RAS with linear actuators;

FIG. 24 is a perspective view of a RAS with an inflatable ringstabilizer cuff, input device, and a controller;

FIG. 25 is a perspective view of a RAS and RAS fitting tool withsensors, controller, and actuators, and an external general purposecomputer;

FIG. 26 is a flow chart showing steps in a process of an embodiment ofthe invention for controlling paddle compression based on oxygensaturation levels;

FIG. 27 is a flow chart showing steps in a process of an embodiment ofthe invention for controlling paddle compression based on pressurelevels;

FIG. 28 is a flow chart showing steps in a process of an embodiment ofthe invention for controlling paddle compression based on detectedpressure patterns and levels;

FIG. 29 is a flow chart showing steps in a process of an embodiment ofthe invention for controlling paddle compression based on paddle anglesrelative to associated paddle connectors;

FIG. 30 is a flow chart showing steps in a process of an embodiment ofthe invention for controlling an inflatable ring stabilizer cuff; and

FIG. 31 is a flow chart showing steps in a process of an embodiment ofthe invention for self-calibrating control signals based on actualpressure level readings.

DETAILED DESCRIPTION

FIG. 1 depicts one embodiment that includes a prosthetic device 101 andthe attached RAS compressing device and paddles. The RAS compressingdevice and paddles include an adapter 1 with attachment points 2arranged azimuthally around the adapter such that the attachments arealigned at distinct intervals around the circumference of the adapter,wherein the locations of these attachment points are determined withreference to the skeletal structure of the target area, as well as bythe shape and size of the target. In one variation, the adapter has fourattachment points. When the target is a human limb having a skeletalstructure lying within the limb these attachment points are, forexample, approximately ninety degrees apart.

The adapter 1 has an inner adapter surface 3 facing the target, an outeradapter surface (not shown) opposite the inner adapter surface, and side4 connecting the inner adapter surface to the outer adapter surface.

In one variation of this embodiment, the inner adapter surface 3 iscircular or ovoid. The attachment points 2 are connectable tocompression paddles 5 through paddle connectors 6.

The compression paddles 5, when attached to the adapter 1 though thepaddle connectors 6, extend away from the inner adapter surface 3 of theadapter in the direction of the target, forming a bowl, cup, or boxshaped container configuration where the inner adapter surface is at thebottom of the container and the paddles and relief areas between thepaddles alternate along the sides or walls of the container with theflat inner surfaces of the paddles 7 generally flush with the innersurface of such container walls. The container forms a receptacle oropen cage that can receive and compress the target's skeletal structureby moving the paddles inwardly towards the center of the container inaccordance with the principles of the invention.

While in this embodiment the paddles 5 have substantially the sameshape, more generally, the socket designer selects each paddle from aplurality of paddles of different shapes, including different widths,lengths, thicknesses, and curvatures. For example, a socket designer maycheck to see if a particular paddle selection rocks end-to-end whenpressure is shifted, in which case the socket designer would choose adifferent shaped paddle that does not rock end-to-end. In a variation ofthe embodiment depicted, the plurality of paddles may be premanufacturedand sold in a kit along with an adapter. In another embodiment, thesocket designer may manufacture paddles as needed and keep available hisown inventory of preconfigured paddle shapes to fit a variety of user.

In the embodiment depicted in FIG. 1, the paddle 5 lengths are selectedso that they run virtually the entire length of the bone in the target,ending just short of the bone ends, e.g. along eighty and morepreferably at least ninety percent of the bone length, however, shorterpaddle lengths can be selected in particular applications withoutdeparting from the spirit and scope of the invention. When compressed,the inner surfaces 7 of the paddles compress the target's tissue againstthe bone to impart optimal tissue compression.

In one embodiment, the paddles 5, paddle connectors 6, and adapter 1 areconstructed of aluminum, but other materials, including fiberglass,carbon fiber composite, plastic, or electroactive polymer material maybe used and still be within the spirit and scope of the invention.

The paddle connectors 6 attach to the attachment points 2 on the adapter1. The attachments points are located, for example on the inner adaptersurface 3. However, the attachment points can also be located on theouter adapter surface or along the sides of the adapter 4. In theembodiment depicted in FIG. 1 the attachment points are located on thesides of the adapter and the paddle connectors pass through attachmentopenings 8 on the adapter sides. In an alternative embodiment, the inneradapter surface is recessed at such side attachment points, exposing theattachment point within the recessed area.

FIG. 12 depicts one embodiment where, after being adjusted to achieveoptimal tissue compression, the paddles 5 are rigidly affixed to thepaddle connectors 6 using paddle locking pins 1201 and the paddleconnectors are rigidly affixed to the adapter 1 using connector lockingpins 1202 so that the paddles are immoveable relative to the adapter.

In FIG. 1, after being adjusted for an initial optimal tissuecompression, the paddles 5 can be adjusted to move inwards or outwardsfrom the container center to increase or decrease compression,respectively, in order to fine tune the compression or to adjust forchanges in body mass, tissue volume, or for variations in the optimaltissue compression for different activities. In this embodiment, thepaddles tilt inward or outward from the container center using arotatable connector 9 between and coupled to the paddle connector 6 andthe paddle.

In another variation, depicted in FIG. 13, the paddles 5 can also rotatearound their long axis to achieve optimal tissue compression adjustmentby rotating about the paddle posts 1301.

After adjustment, the user can lock the paddles into place withsetscrews 1302. In another variation, depicted in FIG. 1, paddleconnectors 6 can slide along the sides of the adapter to change theposition of the associated paddles along the virtual walls of thecontainer.

In FIG. 1, the motion can be restricted such that the paddles 5 andpaddle connectors 6 can be locked in any position along their motionpaths, for example, by using a setscrew (not shown) on the rotatableconnector 9 between the paddle connector and the paddle.

In an embodiment depicted in FIG. 14, a rotary actuator 1401 locks thepaddles in position upon receipt of a control signal from a controller1402 indicating that a pressure sensor 1403 has detected that theoptimal tissue compression has been obtained. The embodiment depicted inFIG. 14 also includes an electical power source 1413 mounted in theadapter 1 to supply power to the controller, actuators, and any otherdevices requiring power.

It is to be appreciated that other means of locking the components inplace may be used, including those where the locking force is appliedthrough pneumatic or hydraulic pressure devices without departing fromthe spirit and scope of the invention.

It is also to be appreciated that electroactive polymer materials may beconfigured to substitute for actuators or the paddles themselves toimpart optimal tissue compression on the target areas without departingfrom the spirit and scope of the invention.

FIGS. 4-11 depict an embodiment where preconfigured paddle connectorsare detachable from the paddles. In FIG. 4, the preconfigured paddleconnectors 14 can be attached or detached from the paddles 5 usingpaddle connecting screws 13. Once attached, the preconfigured paddleconnectors are sloped inwardly or outwardly from the container center ata variety of fixed angles so that the socket designer may select thepreconfigured paddle connectors that best match the shape of the target.For example, FIG. 8 depicts a configuration of the embodiment where thepreconfigured paddle connectors 14 are angled outwardly so that thepaddles also angle outwardly relative to the center of the container.

FIG. 4 depicts the preconfigured paddle connectors 14 attached to thepaddle connector mounts 46, in paddle adjustment mechanisms 15 (shown inFIGS. 6 and 11) using macro adjustment screws 16, shown in FIG. 4.Before fully tightening the macro adjustment screws, the socket designermoves the paddle connectors inwardly or outwardly along the macroadjustment screw slidable coupling 45, depicted in FIG. 4, to place thepaddles in the approximate position necessary to achieve optimal tissuecompression. After putting the paddles in this initial compressionposition, the socket designer tightens the macro adjustment screws tofix the preconfigured paddle connectors in position on the paddleconnector mounts. The paddle adjustment mechanisms 15 in this embodimentuse fine adjustment leadscrews 44, depicted in FIGS. 6 and 8, totranslate rotational motion applied to the leadscrew heads 52, depictedin FIG. 8, into linear motion. The paddle connector mounts 46, depictedin FIG. 4, serve as leadscrew nuts. Rotation of the leadscrew headsrotate the threaded rod feature of the fine adjustment leadscrews thathave been inserted into paddle connector mounts such that when the fineadjustment leadscrews are rotated the paddle connector mounts are moveda selectable linear distance to move the paddle connector mountsinwardly or outwardly from the container center with the effect that theattached paddle moves a corresponding distance and direction. Thus, byrotating the fine adjustment leadscrews, the socket designer or user canmake fine adjustments in the paddle position to achieve optimal tissuecompression.

FIG. 7 depicts the upper adapter plate 17 separately from the bottomadapter plate 18, depicted in FIG. 6. In FIG. 9, the upper adapter plateis mounted on the bottom adapter plates using a plate connection screw43.

FIG. 11 depicts the paddle adjustment mechanism pin 19 that extends fromthe bottom of the paddle adjustment mechanism 15. The paddle adjustmentmechanism pins follow the cam slides 40 on the top surface of the bottomadapter plate, as depicted in FIG. 6, as the bottom adapter plate isrotated relative to the upper adapter plate around a cam axle 41. Thisrotation draws the paddle adjustment mechanisms inwardly or outwardlytowards or away, respectively, from the center of the container, which,in turn, correspondingly moves the preconfigured paddle connectors 14and paddles 5, depicted in FIG. 4, inwardly or outwardly from thecontainer center. As depicted in FIG. 8, both the upper adapter plateand bottom adapter plate have cam pin holes 47 in which the socketdesigner or user can insert cam tightening bars (not shown) forincreasing the leverage on the upper and lower adapter plates to rotateeach plate with respect to the other plate.

FIG. 11 also depicts a roll pin insertion hole 49 where a roll pin (notshown) is inserted to lock linearly the fine adjustment leadscrew inplace by fitting the roll pin into a circumferential groove in the fineadjustment leadscrew once the fine adjustment lead screw is insertedinto the paddle adjustment mechanism body 50.

FIG. 5 depicts a bottom view of the upper adapter plate 17. When themating surface 44 of the upper adapter plate is placed on top of thebottom adapter plate 18, shown in FIG. 6, the configuration of the upperadapter plates coupled with the bottom adapter plate creates channels 53for the movement of the paddle adjustment mechanisms 15 in and out asthe paddle adjustment mechanism pins 19 follow the cam slides 40 duringrotation of the bottom adapter plate relative to the upper adapterplate.

FIG. 10 depicts the bottom surface of the bottom adapter plate 18,including the cam lock bolt 42. The cam lock bolt locks the bottomadapter plate to the upper adapter plate 17, shown in FIG. 7, to preventrotation of the plates relative to each other. In the embodimentdepicted in FIGS. 4-11, when the plates are rotated relative to eachother, the paddle adjustment mechanisms 15 are drawn-in fully orpushed-out fully when the paddle adjustment mechanism pins 19 reach therespective ends of the cam slides 40, simulating the donning or doffingof a traditional socket. When the paddle adjustment mechanism isdrawn-in completely, the cam lock bolt in the bottom adapter plate and acorrespondingly threaded hole (not shown) in the upper adapter plateline up so that when the cam lock bolt is screwed into the threadedhole, the upper adapter plate is prevented from rotating relative to thebottom adapter plate. This locks the paddles in their fully-in position.

Continuing to identify structures using FIGS. 4-11, in anotherembodiment of this cam configuration, additional upper adapter platethreaded holes allow partial rotation and locking of the bottom adapterplate 18 relative to the upper adapter plate 17 with the paddleadjustment mechanism pins 19 lying along the cam slides 40, rather thanat the ends of the cam slides. The result being that the paddleadjustment mechanisms are drawn partially into or pushed partially outof the channels 53 and locked into place by screwing the cam lock boltinto one of the additional threaded holes. In a variation of thisembodiment without the threaded holes, the relative rotation of theupper adapter plate and bottom adapter plate are locked by screwing thecam lock bolt 42 against the bottom of the upper adapter plate to clampthe upper adapter plate to the bottom adapter plate with the pressurefrom the bolt end. This partial donning or doffing aspect of theinvention may be advantageous when a user's activities require lesscompression, such as while sitting for extended periods of time and theuser does not want to lose the fine adjustment screw settings previouslyestablished.

FIG. 10 also depicts a four-hole universal prosthetic attachmentinterface 51 to allow use of the RAS with standard prosthetic devices,such as the prosthetic device 101 depicted in FIG. 1.

In one embodiment (not shown), the socket designer selects from aplurality of paddles of different shapes that are preconfigured tocombine the structure and configuration of the paddle and paddleconnectors to form a single unit, are directly connectable to theadapter, and preconfigured to slope inwardly or outwardly from thecontainer center at a variety of fixed angles. These preconfiguredpaddles and the adapter can be part of a kit. The socket designerchooses from the plurality of paddles to best match the shape of thetarget, for example, one or more of the chosen paddles are angledoutward at a particular angle for conical shaped targets. In oneembodiment (not shown), the adapter connecting end of the chosen paddlesinclude rails that can slide in and out of the adapter and can beadjustably clamped into a fixed position using adapter clamps to allowthe inner surface of the chosen paddles to move towards or away from thecontainer center and, after adjustment, be fixed in the desired positionto provide the optimal tissue compression.

FIG. 2 depicts an adjustable embodiment of the RAS System including anexternal positioning tool 20, such as the HiFi™ Imager sold bybiodesigns, inc. In this embodiment, the paddles 5 and paddle connectors6 can be oriented using the external positioning tool to positionpaddles for optimal tissue compression.

Continuing to identify structures using FIG. 2 reference characters, insome adjustable embodiments, the paddle 5 and paddle connector 6positions can be adjusted by the user.

In other embodiments, one or more paddle shims can be affixed to theinner surfaces of selected paddles to customize such surfaces toparticular characteristics of the target shape. For example, in anembodiment depicted in FIG. 15, a shim 1501 with a thickness taperingacross its length is used to customize a paddle inner surface 7 to matchthe corresponding curvature of the target's underlying skeletalstructure. Other shim embodiments in accordance with the principles ofthe invention include shims of non-uniform widths, lengths, andthicknesses to accommodate unique user body shapes (e.g., conical orbulbous), the presence of bony prominences or neuromas, or to fine tunethe fit for an embodiments using paddles selected from a plurality ofpaddles of different shapes that are preconfigured.

In one embodiment, the shims are made of molded polyurethane, but othersuitable materials may be selected without departing from the spirit andscope of the invention.

In a variation to the embodiments described above, stabilizers connectselected paddles 5 to each other at one or more points along their longaxes so that they are connected to a portion of the paddles atapproximately the paddle end opposite the paddle connectors 6 in orderto resist the bending force on the paddles at points distant from thepaddle connectors.

FIG. 1 depicts one embodiment of the stabilizer in the form of a ringstabilizer 48 that attaches to the paddles 5 using hook and loopfastener (e.g., Velcro) strips 54, and encircles all the paddles and therelief areas to ring the virtual walls of the container. In thisembodiment, the ring stabilizer is attached to the outer paddle surface10 but the ring stabilizer may be connected to the inner surface 7 or tothe paddle sides 12 without departing from the spirit and the scope ofthe invention.

In the embodiment depicted in FIG. 1, the ring stabilizer 48 isconstructed of a hook and loop fastener strap, but flexible,semi-flexible, or rigid materials may be used, including fiberglass,carbon fiber composite, silicone, plastic, aluminum, or electroactivepolymer material without departing from the spirit and the scope of theinvention.

In another embodiment (not shown), the stabilizers 48 only attach toparticular paddles selected by the socket designer and are connected tothe outer paddle surface 10 of the associated paddles so that they areconnected to a portion of the paddles at approximately the paddle endopposite the paddle connectors 6. In other embodiments, the stabilizersmay be connected to the inner surface 7 or to the paddle sides 12without departing from the spirit and the scope of the invention.

FIG. 17 depicts an embodiment that uses one or more semi-flexible ringstabilizers and paddles sufficient to resist the bending force on thepaddles 5 and connects to a portion of the paddles at approximately thepaddle end opposite the paddle connectors 6. In this embodiment, the oneor more stabilizers 48 significantly support and contain soft tissue ofthe target such that under weight-bearing or non-weight-bearingconditions the target is comfortably supported and contained within theRAS in regions selected by the socket designer, for example in the brimarea 1701 surrounding the target at the container top, opposite theadapter 1. It is to be appreciated that the one or more stabilizers mayoverlap each other.

In one embodiment, depicted in FIG. 16, the adapter is omitted and oneor more ring stabilizers 48 cover a portion of each paddle and maintainthe relative position of the paddles 5 around the container, which isbottomless with the omission of the adapter. The ring stabilizers shownare constructed of hook and loop fastener straps, but they can becomprised of one or more sections connected with a sliding rail andclamped connectors to allow the user to increase or decrease thecompression on the paddles to achieve optimal tissue compression.

In one embodiment depicted in FIG. 3, the relief areas allow tissue toflow outward 30 beyond the paddle inner surfaces once compression of thepaddles 5 upon the limb is imposed. The volume of tissue that is allowedto flow outward beyond the paddle inner surface is determined by paddlecompression levels, the dimensions of the relief areas, the paddleshapes and positions, and whether the target is weight bearing or notand in what fashion (for example, while the user is sitting, standing,walking, running, cycling, hanging, or lifting).

FIG. 14 depicts an embodiment that includes a flared paddle 1404 with aninner surface 7 and support sides 1423 on one or both sides of the innersurface so that the flared paddle is significantly wider at the endfurthest from the paddle connectors 6 so that the wider part resists thebending force on the paddle at points distant from the paddle connectorsand the support sides support and contain soft tissue of the target suchthat under weight-bearing conditions the target is comfortably supportedand contained within the RAS. It is to be appreciated that the socketdesigner can select additional paddle shapes and support side width tosupport other regions of the target to achieve additional bendingstrength, tissue support, and weight bearing objectives.

FIG. 18 depicts an embodiment that includes a membrane 1801 thatconnects two paddles 5 to each other at a point on the outer surface 10of each paddle and held by snaps 1802 to limit the outward flow oftissue through the relief areas, but the membrane may be connected tothe inner surface 7 or the adjacent paddle sides 11 of each paddlewithout departing from the spirit and the scope of the invention. Inareas not restrained by the membrane in this embodiment, the tissue 1803is allowed to bulge out.

FIG. 19 depicts an embodiment where the membrane 1901 attaches to theoutside surface of the paddles 10 and encircles all the paddles 5 andthe relief areas to enclose fully at least a section of the containerwalls. Alternatively, the membrane may be connected to the paddle innersurface 7 or membrane sections may be predisposed between adjacentpaddle sides 11, without departing from the spirit and the scope of theinvention.

In one embodiment of the membrane, the membrane lies closer to theadapter 1 than to the stabilizers. However, the membrane may be locatedat other places along the paddle 5 lengths, without departing from thespirit and scope of the invention.

One embodiment of the membrane is comprised of flexible material such asstretchable fabric. However, embodiments may include semi-flexible orrigid material, without departing from the spirit and the scope of theinvention.

The embodiment in FIG. 19 also uses a semi-flexible material for themembrane 1901 that provides upward support and containment of softtissue 1902 of the target such that, under weight-bearing ornon-weight-bearing conditions, the target is comfortably supported andcontained within the RAS by controlling, for example, how deep orshallow the target sits or suspends within the RAS.

An additional objective of the membrane is to provide friction upon thereleased tissue in order to enhance stabilization, control, andsuspension by reducing vertical, rotational, and translational motion ofthe target within the RAS during all phases of the gait cycle and while,for example, the user is standing or sitting.

In one prosthetic embodiment of the RAS depicted in FIG. 3, the paddles5 are especially configured to interface with a transfemoral limb 31,but the paddles may be configured to interface with other parts of thebody, including transtibial, transradial, or transhumeral limbs, withoutdeparting from the spirit and the scope of the invention.

FIG. 20 depicts a knee brace orthotic and orthopedic support deviceembodiment of the RAS where the paddles 5 are especially configured tointerface with an injured knee joint 2001, but in other orthotic ororthopedic support device embodiments, the paddles may be configured tocorrect or stabilize other body parts without departing from the spiritand the scope of the invention. In the embodiment depicted, the paddlesare connected to the knee brace 2002 with thumbscrew compression rods2003 that screw into and through threaded holes in the knee brace andare rotatably connected to the paddles so that the user can turn thethumbscrews to increase or decrease the compression to achieve optimaltissue compression.

FIG. 21 depicts an upper limb exoskeletal device embodiment of the RASwhere the paddles 5 are especially configured to interface with aforearm and upper arm, but in other exoskeletal embodiments, the paddlesmay be configured to interface with other locations of the body withoutdeparting from the spirit and scope of the invention. In the embodimentdepicted, the paddles are connected to the upper limb exoskeletal device2101 with thumbscrew compression rods 2102 that screw into and throughthreaded holes in the exoskeletal device and are rotatably connected tothe paddles so that the user can turn the thumbscrews to increase ordecrease the compression to achieve optimal tissue compression. Theembodiment depicted also includes a chest support 2103.

In another embodiment, depicted in FIG. 3, the user wears a liner 32between the target and the RAS so that tissue flow includes flow of theliner, and friction on the skin is replaced with friction on the linermaterial. In a variation of this embodiment, the liner constrains tissueflow within relief areas by increasing the durometer of the liningmaterial.

The liner may be constructed, for example, out of urethane, silicone, orneoprene based materials.

Some embodiments of the liner fully encapsulate the target asconventionally done and, thus, provide a compressive or elastic force toall of the limb's soft tissue in order, for example, to minimize edema.

Continuing to identify structures using FIG. 3 reference characters, inother embodiments, features of the liner 32 increase the friction orinterconnection of the liner and the RAS to enhance stabilization,control, and suspension by reducing vertical, rotational, andtranslational motion of the target within the RAS and to support andcontain soft tissue such that under weight-bearing or non-weight-bearingconditions the target is comfortably supported and contained during allphases of the gait cycle or, for example, while the user is standing,sitting, or lying down.

FIG. 22 depicts an embodiment where the liner 32 incorporates one ormore rings or patches of different durometer to increase or decreasesoft tissue support and containment in regions selected by the socketdesigner, for example, a ring of stiffer durometer material providestissue support in the brim area 2203 surrounding the target at thecontainer top, opposite the adapter. Similar longitudinal support isprovided with longitudinal patches 2201. Substitute material patches2202 replace and are sewn into sections of the liner where lessdurometer characteristics are desired.

In another embodiment, depicted in FIG. 15, the liner 32 has raisedbumps 1502 to increase friction with the paddles 5. In a variation ofthis embodiment, recessed features 1503 on the paddles, stabilizer 48,and membrane (not shown) interlock and increase the friction with theraised features on the liner. The recessed features are also on one ormore shims 1501, rather than the paddles to which the shims attach.Alternative embodiments may be configured to have interlocking featuressuch as hook and loop fasteners, interlocking ribs, or magnets ofopposing polarity, without departing from the spirit and scope of theinvention.

In variations of the embodiments disclosed above, the RAS systemincludes transducer (e.g., accelerometer, strain gauge, slip detector,pressure sensor, oximeter, angle position sensor, or actuator),processor, amplifier, or memory devices, and a power source for sensing,recording, transmitting, or controlling adapter, membrane, paddle, orstabilizer position, orientation, and relative motion, and physiologicalparameters of the target (for example, temperature or blood oxygenlevels).

For example, FIG. 14 depicts an embodiment where a photometric oximeter1405 is attached to the inner surface of a membrane 1406, adjacent tothe target, where it can detect the oxygen saturation of blood in thetarget. The oximeter sensor output is sent electronically over a wirecommunication link 1407 embedded within the membrane and connectedthrough a paddle connector 6 to a controller 1402 mounted in the adapter1. The controller displays detected oxygen levels on an LCD display 1408mounted on the adapter side 4.

It is to be appreciated that wireless communication link technologiesmay be used instead of embedded wires in this embodiment and otherembodiments of this disclosure, without departing from the spirit andscope of the invention.

In a variation of the embodiment depicted in FIG. 14, the controller1402 mounted in the adapter 1 determines in step S11 of FIG. 26 if theoxygen levels detected from oximeters 1405 are below a minimumacceptable level previously stored in the controller memory. If thelevels are below that acceptable level, the controller in step S12 sendsa control signal to one or more rotary actuators 1401 that rotate thepaddles 5 to tilt the paddles outward from the container center toreduce the tissue compression until the detected oxygen levels rise tothe minimum acceptable level.

The embodiment depicted in FIG. 14 also has one or more pressure sensors1403 that are attached to the inner surface 7 of one or more paddles 5,adjacent to the target, where the pressure sensors can sense thepressure between the paddles and the target. The pressure sensor outputsare sent electronically to the controller 1402 mounted in the adapter 1via a wire communication link 1409 running along and attached to eachpaddle and paddle connector 6. The controller converts the pressuresensor output to the controller to a control signal from the controllerin order to display detected pressure levels on one or more LCD displays1408 mounted on the adapter side 4.

In a variation of this embodiment, the user or socket designer manuallypositions the paddles 5 over selected skeletal structures prior toapplying tissue compression and observes pressure readings as pressureis applied in order to determine the relative compression of the paddlesover the underlying skeletal structure to determine optimum fit.

FIG. 14 also depicts an embodiment where the controller 1402 determinesin step S21 of FIG. 27 whether the pressure levels detected by thepressure sensors 1403 are optimized for the user activity that the userselects through a set of user operable control input buttons on an inputdevice 1410 mounted on the side of the adapter 1. User activitiesinclude, for example, resting, walking, running, or lifting. Eachcontrol button corresponds to an optimum pressure range stored for thatuser activity in the controller memory. In step S22, if the pressurelevels detected are not within the acceptable pressure range for theuser activity, the controller sends a control signal to one or moreactuators to instruct the actuators to rotate the paddles 5 to tilt thepaddles inward or outward from the container center to increase orreduce the tissue compression until the detected pressure levels arewithin the pressure range stored in the controller memory for the useractivity.

In a variation of the embodiment depicted in FIG. 14, the controller1402 matches, in step S31 of FIG. 28, a profile of the pressure spikeand drop patterns detected by the pressure sensors 1403 during a sampledinterval with a nearest-match activity profile from a plurality ofactivity profiles that are each associated with and stored with anactivity in the controller memory, where each activity in the controllermemory is pre-assigned an optimum pressure range for that particularactivity. If the mean pressure levels detected during the sampledinterval are not within the pre-assigned optimum pressure rangecorresponding to the nearest-match activity profile, the controller, instep S32, sends a control signal to one or more rotary actuators 1401 toinstruct the rotary actuators to rotate the paddles 5 to tilt thepaddles inward or outward from the container center to increase orreduce the tissue compression until the mean pressure levels detectedduring a subsequently sampled interval are within the optimum pressurerange.

In one embodiment of this variation, the sample interval is 100milliseconds and the sampling is repeated every 500 milliseconds.

In a variation of the embodiment with the manually selectable activitiesdepicted in FIG. 14, each user activity is associated with an angularposition value stored in controller memory for each rotary actuator1401, wherein the angular position is the angle between each paddle 5and each paddle connector 6 that achieves optimal tissue compression forthe user activity. Upon receiving an input from the user of the useractivity using the user operable control input buttons on the inputdevice 1410, the controller, in step S41 of FIG. 29, matches the useractivity to the associated angular position value for each rotaryactuator and, in step S42, sends a control signal to each of the rotaryactuators 1401 instructing the rotary actuators to rotate the paddles totilt the paddles inward or outward from the container center to increaseor reduce the tissue compression until the angular position valuedetected by each angle position sensor (not shown) coupled to eachrotary actuator matches the angular position value stored in controllermemory for the selected user activity and each rotary actuator.

FIG. 23 depicts a preconfigured paddle connector embodiment configuredwith linear actuators 2301 attached to the adapter 1 and connectable tothe preconfigured paddle connectors 14 to slide the paddles 5 in or outof the adapter sides to adjust paddle compression.

In one embodiment, depicted in FIG. 14, the liner 1416 may include oneor more liner magnets 1411 that the user can align with bony prominencesor other readily locatable physical features of the target such thatmagnetic field sensors 1412 mounted along with a magnetic field sensorpower source 1420 on a paddle 5 can be consistently positioned by theuser over the target area. When the paddle is properly aligned with theliner magnets, all the magnetic fields meet the magnetic field sensordetection thresholds. As a result, the magnetic field sensors senddisplay signals over a wire communication link 1414 to an LED display1415 mounted on the paddle and configured to indicate to the user thatthe paddle is in the proper position relative to the target area.

In a variation of this embodiment, depicted in FIG. 14, the liner 1416is visibly marked with a physical feature alignment marking 1421 thatthe user can align with bony prominences or other readily locatablephysical features of the target (not shown). Once so aligned, thisembodiment is configured so that a target area marking 1422 will providean outline to the user where to place a paddle so that the paddle is inthe proper position relative to the target area. The several embodimentsdisclosed herein illustrate some of a variety of embodiments within thespirit and scope of the invention that utilize sensors, actuators,computer memory, and microprocessor devices to monitor and control thecomponents of the RAS. Besides the orientation of the paddles describedabove, such electronics may also be readily adapted to monitor andcontrol the membrane and stabilizers using the principles of theinvention.

FIG. 24 depicts an embodiment that includes an air pressure pump 2401,air tube 2402, inflatable ring stabilizer cuff 2403, power source 2405,and controller 2406. In this embodiment, the user selects useractivities through a set of user operable control input buttons on aninput device 2404 mounted on the side of the adapter 1. In step S51 ofFIG. 30, the controller matches the user input to a control signal forthe user input stored in the controller memory. User activities include,for example, resting, walking, running, or lifting. In step S52, thecontroller sends the control signal to the air pressure pump to instructthe air pressure pump to inflate in accordance with the control signal,via the air tube, the inflatable ring stabilizer cuff encircling thepaddles 5. The control signal and resultant air pressure ispredetermined for each user activity to minimize the loss of paddlecompression over the length of the paddles due to the bending force onthe paddles from the force or movement of the target for the useractivity.

FIG. 25 depicts an external positioning tool device embodiment thatincludes sensors, so that the RAS itself does not require sensors orother electronics. Rather, the RAS is adjusted and its components lockedin place by a socket designer using sensors mounted on the position tooldevice. In this embodiment, the position tool 20 includes compressionbars 33 (as similarly depicted in FIG. 3) that attach to the outside ofthe paddles 5. One or more pressure sensors 2501 are attached to thecompression bars of the position tool so that the pressure sensors aresituated between each compression bar and paddle in order to measure thepressure between the compression bars and the paddles. When the paddlesare compressed against the target by applying pressure on the paddles bypressing the compression bars against the paddles, the pressure sensorsoutput electronically over a wire communication link 2502 attached toeach compression bar and further connected through the external tool toa controller 2503 mounted on the external tool. The controller sends acontrol signal to a LCD display 2504 mounted on the external tool todisplay detected pressure levels. The embodiment includes oximetersensors 2510, in addition to the pressure sensors, but the embodimentmay use oximeter sensors exclusively, or a different sensor useful foroptimizing performance, without departing from the spirit and scope ofthe invention.

In a variation of this embodiment, the controller 2503 is configured tocommunicate wirelessly over a communication link with a general purposecomputer 2505 especially programmed to receive the controller input andto display the pressure or oxygen levels on a computer screen 2506.

It is to be appreciated that a desktop or laptop computer may also beused to program the controller mounted on either an external tool or theRAS via a wired or wireless communication link. A smart phone or tabletcomputer may also be used to perform the same function as the desktop orlaptop computer.

In the embodiment depicted in FIG. 25, the external tool's compressionbars 33 are controlled by linear actuators 2507 that apply a forcespecified by the operator through an operator input device 2508. Theoperator input device depicted is an optimal tissue compressionselecting dial mounted on the external tool 20 and operable to take thevoltage input from a power source 2509 and vary the voltage output tothe linear actuators to press with variable pressure on the compressionbars against the paddles 5 to the optimal tissue compression selected. Avariation of this embodiment includes incorporating the pressure sensorsbetween the compression bars and the paddles. The pressure sensors senddetected pressure levels to controller 2503. The controller sends acontrol signal to a LCD display 2504 to display actual measured pressurelevels.

In a further variation of this embodiment, a computer 2505 controls anadjustable voltage regulator circuit so that the computer and theadjustable voltage circuit substitute for the optimal tissue compressionselecting dial 2508 for purposes of controlling the linear actuators2507.

Another embodiment with a pressure sensor 2501 between a compression bar33 and a paddle 5 provides a feedback loop to the controller 2503 forself-calibration of the control signal, as depicted in FIG. 25 and FIG.31. In step S61, the feedback loop compares the sensor output to thecontroller after the controller sends a control signal to an actuator2507 against the expected sensor value associated with the controlsignal, where the expected sensor value and the control signal areassociated and stored in the controller memory. In step S62, thecontroller modifies the control signal to reduce the difference betweenthe sensor output and expected sensor value until, in step S63, thecontroller determines the sensor output substantially matches theexpected sensor value and the controller stores in the controller memorythe control signal as modified. It is to be appreciated that acontroller, adjustable voltage regulator, actuators, power source, andpressure sensors may be configured and mounted on the RAS itself toachieve self-calibrating, optimal tissue compression.

FIG. 14 depicts a variation of the optimal tissue compression selectingdial embodiment in which a two dimensional representation 1417 of thatdial is displayed on a touch screen on a smart phone 1418. The smartphone is programmed to allow a RAS user to instruct over a wirelesscommunication link a controller 1402 mounted on the RAS, to increase ordecrease the voltage to the rotary actuators 1401. The rotary actuatorsare configured to compress or release the paddles 5 so that the user canself-regulate the compression according to the user's need to controllost motion in the RAS and maintain comfort levels while undertakingdifferent activities, for example walking, running, or sitting. In afurther integrated variation of this embodiment, the rotary actuatoraccepts instructions directly from the smart phone via a wired orwireless communication link (not shown).

A further variation of the embodiment depicted in FIG. 14 includes thesubstitution of photometric oximeters (not shown) for the pressuresensors 1403 mounted on the inner surfaces 7 of the paddles 5. Theoximeter sensor output is sent electronically over a wire communicationlink 1409 embedded in the paddles and further connected through thepaddle connectors 6 to a controller 1402 mounted in the adapter 1. Thecontroller is coupled with a digital transmitter to send a controlsignal via a wireless communication link with the smart phone 1418 todisplay detected oxygen levels 1419. In a further variation to thisembodiment, the smart phone is further programmed to provide an audiblewarning when oxygen levels fall below a minimum level stored in thesmart phone memory.

While the embodiments disclosed above have application in the field ofprosthetics, in orthotic or orthopedic support device embodiments, it isto be appreciated that the lost motion capture and adjustabilityprinciples of the invention can be applied using RAS paddles to controlmotion of bone across a facture or bones sharing a common joint, asdepicted in FIG. 20, to immobilize such fractures or joints or tosupport joints in order to promote healing or correction, while allowingcompression forces to be varied over time or from time to time fortherapeutic benefit, comfort, or for particular activities that mayrequire more or less immobilization or support.

It is also to be appreciated that the principals of the invention can beapplied to exoskeletal embodiments, such as depicted in FIG. 21, wherethe user is, for example, not an amputee, but requires a socket devicethat captures lost motion of the underlying skeletal structure to whichthe socket attaches in order, for example, to immobilize a joint,increase the load bearing strength of skeletal structures, or increasethe association between the physical movement of the skeletal structureand the resulting movement of the RAS. A further advantage of the RASsystem in exoskeletal applications is that it allows user adjustments inthe field and the RAS can be adjusted to fit different users who mayneed to use the exoskeletal application at different times.

It will be apparent to those skilled in the art that changes andmodifications may be made in the embodiments illustrated and described,without departing from the spirit and the scope of the invention. Thus,the invention is not to be limited to the particular forms herein shownand described except insofar as indicated by the scope of the appendedclaim.

What is claimed is:
 1. A system for engaging a target comprising: apaddle having an inner surface; and a compressing device coupled to thepaddle, wherein the paddle is chosen from a plurality of paddles ofdifferent shapes in such a way that the inner surface of the paddle issubstantially coextensive with a target area, wherein the inner surfaceis in contact with the target area, wherein the compressing devicepresses together the inner surface and the target area in such a waythat the inner surface imparts an optimal tissue compression to thetarget area, wherein the compressing device imparts substantially nocompression to a nonpaddle area, wherein the nonpaddle area includes arelief area.
 2. The system of claim 1, wherein the paddle includes: afirst paddle end; and a second paddle end; wherein the system furthercomprises: a stabilizer, wherein the compressing device is coupled tothe paddle at the first paddle end, wherein the stabilizer is coupled toa portion of the paddle at approximately the second paddle end.
 3. Thesystem of claim 1, wherein the system further comprises: at least twopaddles each having a first paddle end and a second paddle end; and astabilizer, wherein the compressing device is coupled to the firstpaddle end of each of the paddles, and wherein the stabilizer is coupledto a portion of at least two of the paddles at approximately the secondpaddle end, wherein the number of relief areas equals the number ofpaddles.
 4. The system of claim 1, wherein the compressing devicecomprises an adapter.
 5. The system of claim 4, wherein the adapterfurther comprises: an adapter side; and a paddle adjustment mechanism,wherein the paddle adjustment mechanism is coupled to the paddle and theadapter in such a way that the action of the paddle adjustment mechanismmoves the paddle inwardly or outwardly from the adapter side.
 6. Thesystem of claim 5, wherein the paddle adjustment mechanism furthercomprises: a slidable coupling for selecting an initial compression onthe target area; and a fine adjustment mechanism to impart the optimaltissue compression to the target area.
 7. The system of claim 6, whereinthe paddle includes: a first paddle end; and a second paddle end,wherein the system further comprises: a stabilizer, wherein thecompressing device is coupled to the paddle at the first paddle end,wherein the stabilizer is coupled to a portion of the paddle atapproximately the second paddle end.
 8. The system of claim 7, whereinthe system further comprises a prosthetic device.
 9. The system of claim4, wherein the adapter further comprises: a rotatable connector; and apaddle coupling for connecting the paddle to the rotatable connector,wherein the rotatable connector is operable to rotate the paddle in sucha way as to impart the optimal tissue compression to the target area.10. The system of claim 4, wherein the adapter further comprises: anadapter side; an actuator; a controller; and a communication link,wherein the controller outputs a control signal to the actuator via thecommunication link, wherein the actuator is coupled to the paddle andthe adapter in such a way that the actuator moves the paddle inwardly oroutwardly from the adapter side as a function of the control signal. 11.The system of claim 2, wherein the compressing device includes a ringstabilizer.
 12. The system of claim 1, wherein the compressing deviceincludes an electroactive polymer material configured to impart theoptimal tissue compression.
 13. The system of claim 10, wherein thesystem further comprises a sensor, wherein the sensor generates a sensoroutput to the controller via the communication link, wherein thecontroller outputs the control signal as a function of the sensoroutput.
 14. The system of claim 13, wherein the system furthercomprises: a controller memory; and a plurality of activity profilesstored in the controller memory, wherein the controller matches thesensor output with a nearest match activity profile from the pluralityof activity profiles, wherein the controller outputs the control signalas a function of the nearest match activity profile.
 15. The system ofclaim 10, wherein the adapter further comprises: an input device forselecting a user activity, wherein the input device outputs the useractivity to the controller via the communication link, wherein thecontroller outputs the control signal as a function of the useractivity.
 16. The system of claim 15, wherein the system furthercomprises a sensor, wherein the sensor sends a sensor output to thecontroller via the communication link, wherein the controller outputsthe control signal as a function of the sensor output and the useractivity.
 17. The system of claim 13, wherein the sensor is a pressuresensor.
 18. The system of claim 1, wherein the system further comprises:a liner, the liner further comprising: a physical feature alignmentmarking; and a target area marking, wherein the liner is worn over thetarget area and the nonpaddle area in such a way that the physicalfeature alignment marking aligns with a physical feature of the target,wherein selection of the physical feature alignment marking location onthe liner, the target area marking location on the liner, and thephysical feature are coordinated in such a way that the user can locatethe paddle for optimal tissue compression.
 19. The system of claim 1,wherein the compressing device further comprises: a compression rodhaving a first rod end and a second rod end; and a support device,wherein the first compression rod end is coupled to the paddle, whereinthe second compression rod end and the support device are configured insuch a way that the compression rod imparts the optimal tissuecompression.
 20. The system of claim 19, wherein the support device isan orthotic device.
 21. The system of claim 19, wherein the supportdevice is an orthopedic device.
 22. The system of claim 19, wherein thesupport device is an exoskeletal device.
 23. A system for engaging atarget comprising: a first paddle having an inner surface; a secondpaddle having an inner surface; and a compressing device coupled to thefirst and second paddles, wherein the paddles are chosen from aplurality of paddles of different shapes in such a way that the innersurface of the first paddle is substantially coextensive with a firsttarget area and the inner surface of a second paddle is substantiallycoextensive with a second target area, wherein the inner surface of thefirst paddle is in contact with the first target area and the innersurface of the second paddle is in contact with the second target area,wherein the compressing device presses together the inner surfaces andthe target areas in such a way that the inner surfaces impart an optimaltissue compression to the target areas, wherein the compressing deviceimparts substantially no compression to nonpaddle areas, and wherein thenonpaddle area include relief areas.
 24. The system of claim 23, whereinthe compressing device comprises an adapter.
 25. The system of claim 24,wherein the compressing device further comprises an external tool havinga compression bar, wherein the compression bar is attachable to one ofthe paddles and operable to move the paddle inwardly or outwardly fromthe adapter side.
 26. The system of claim 24, wherein the adapterfurther comprises: an adapter side; and a paddle adjustment mechanism,wherein the paddle adjustment mechanism is coupled to one of thepaddles, wherein the paddle adjustment mechanism is coupled to theadapter in such a way that the action of the paddle adjustment mechanismmoves the paddle coupled to the paddle adjustment mechanism inwardly oroutwardly from the adapter side.
 27. The system of claim 26, wherein thepaddle adjustment mechanism further comprises: a slidable coupling forselecting an initial compression on the target area; and a fineadjustment mechanism to impart the optimal tissue compression to thetarget area.
 28. The system of claim 27, wherein the paddle includes: afirst paddle end; and a second paddle end, wherein the system furthercomprises: a stabilizer, wherein the paddle adjustment mechanism iscoupled to the paddle at the first paddle end, wherein the stabilizer iscoupled to a portion of the paddle at approximately the second paddleend.
 29. The system of claim 28, wherein the system further comprises aprosthetic device.
 30. The system of claim 29, wherein the first paddleis a flared paddle.
 31. The system of claim 25, wherein the adapterfurther comprises: a rotatable connector; and a paddle coupling forconnecting one of the paddles to the rotatable connector, wherein therotatable connector is operable to rotate the paddle coupled to therotatable connector in such a way as to impart the optimal tissuecompression to the target area.
 32. The system of claim 23, wherein eachpaddle includes: a first paddle end; and a second paddle end, whereinthe system further comprises: a pump; a stabilizer cuff; a tubeconnecting the pump to the stabilizer cuff; a communication link; and acontroller, wherein the compressing device is coupled to the paddles atthe first paddle end, wherein the stabilizer cuff is coupled to aportion of the first and second paddles at approximately the secondpaddle end, wherein the controller outputs a control signal to the pumpvia the communication link, and wherein the pump pressurizes thestabilizer cuff via the tube as a function of the control signal. 33.The system of claim 25, wherein the external tool further comprises: anactuator; a controller; and a communication link, wherein the actuatoris coupled with one of the compression bars, wherein the controlleroutputs a control signal to the actuator via the communication link tooperate the actuator in such as way as to move the compression barcoupled to the actuator inwardly or outwardly from the adapter side. 34.The system of claim 33 wherein the external tool further comprises: asensor; a controller memory; and an expected sensor value associatedwith the optimal tissue compression, wherein the expected sensor valueassociated with the optimal tissue compression is stored in thecontroller memory, wherein the sensor sends a sensor output to thecontroller via the communication link, wherein the controller determinesa difference between the sensor output and the expected sensor valueassociated with the optimal tissue compression, and wherein thecontroller modifies the control signal as a function of the differencebetween the sensor output and the expected sensor value associated withthe optimal tissue compression.
 35. The system of claim 23, wherein thesystem further comprises: a liner; a magnet attached to the liner; amagnetic field sensor; and a display, wherein the magnetic field sensoris attached to one of the paddles, wherein the liner is worn over thetarget area and the nonpaddle area in such a way that the magnet alignswith a physical feature of the target, and wherein selection of themagnet strength, the magnetic field sensor sensitivity, the physicalfeature, and the magnet location on the liner is coordinated in such away that the magnetic field sensor outputs a display signal to thedisplay only when the inner surface of the paddle is substantiallyaligned with the target area.
 36. The system of claim 25, wherein theadapter further comprises: an adapter side; and a paddle adjustmentmechanism, wherein the paddle adjustment mechanism is coupled to one ofthe paddles, wherein the paddle adjustment mechanism is coupled to theadapter in such a way that the action of the paddle adjustment mechanismmoves the paddle coupled to the paddle adjustment mechanism inwardly oroutwardly from the adapter side.
 37. The system of claim 36, wherein thepaddle adjustment mechanism further comprises: a slidable coupling forselecting an initial compression on the target area; and a fineadjustment mechanism to impart the optimal tissue compression to thetarget area.
 38. The system of claim 37, wherein the paddle includes: afirst paddle end; and a second paddle end; wherein the system furthercomprises: a stabilizer, wherein the paddle adjustment mechanism iscoupled to the paddle at the first paddle end, and wherein thestabilizer is coupled to a portion of the paddle at approximately thesecond paddle end.
 39. The system of claim 38, wherein the systemfurther comprises a prosthetic device.
 40. A method for engaging atarget comprising: choosing a paddle having an inner surface from aplurality of paddles of different shapes in such a way that the innersurface of the paddle is substantially coextensive with a target area;pressing with a compressing device coupled to the paddle so that theinner surface imparts an optimal tissue compression to the target areaand the compressing device imparts substantially no compression to anonpaddle area; and wherein the nonpaddle area include a relief area.41. The method of claim 40, wherein the paddle includes: a first paddleend; and a second paddle end; wherein the method further comprises:connecting the compressing device to the paddle at the first paddle end;and connecting a stabilizer to a portion of the paddle at approximatelythe second paddle end.
 42. The method of claim 40, wherein the methodfurther comprises: choosing at least a second paddle wherein the firstpaddle and the second paddle each have a first paddle end and a secondpaddle end; connecting the compressing device to the first paddle end ofeach of the paddles; and connecting the stabilizer to a portion of thefirst and second paddles at approximately the second paddle end.
 43. Themethod of claim 40, wherein the compressing device comprises an adapter.44. The method of claim 43, wherein the adapter further comprises: anadapter side; and a paddle adjustment mechanism, wherein the methodfurther comprises: connecting the paddle adjustment mechanism to thepaddle and the adapter in such a way that the action of the paddleadjustment mechanism moves the paddle inwardly or outwardly from theadapter side.
 45. The method of claim 44, wherein the paddle adjustmentmechanism further comprises: a slidable coupling; and a fine adjustmentmechanism, wherein the method further comprises: selecting an initialcompression on the target area using the slidable coupling; andimparting the optimal tissue compression to the target area using thefine adjustment mechanism.
 46. The method of claim 45, wherein thepaddle includes: a first paddle end; and a second paddle end, whereinthe method further comprises: connecting the compressing device to thepaddle at the first paddle end; and connecting a stabilizer to a portionof the paddle at approximately the second paddle end.
 47. The method ofclaim 46, wherein the method further comprises attaching a prostheticdevice to the adapter.
 48. The method of claim 43, wherein the adapterfurther comprises: a rotatable connector; and a paddle coupling, whereinthe method further comprises: connecting the paddle to the rotatableconnector using the paddle coupling; and operating the rotatableconnector to rotate the paddle in such a way as to impart the optimaltissue compression to the target area.
 49. The method of claim 43,wherein the adapter further comprises: an adapter side; an actuatorcoupled to the paddle and the adapter; a controller; and a communicationlink, wherein the method further comprises: generating a control signalto cause the actuator to move the paddle inwardly or outwardly from theadapter side; and sending the control signal from the controller to theactuator via the communication link.
 50. The method of claim 41, whereinthe compressing device includes a ring stabilizer.
 51. The method ofclaim 40, wherein the compressing device includes an electroactivepolymer material configured to impart the optimal tissue compression.52. The method of claim 49, wherein the method further comprises:sending a sensor output to the controller via the communication link,and generating a control signal as a function of the sensor output. 53.The method of claim 52, wherein the controller further comprises: acontroller memory, wherein the method further comprises: accessing aplurality of activity profiles stored in the controller memory; matchingthe sensor output with a nearest match activity profile from theplurality of activity profiles; and sending a control signal to theactuator as a function of the nearest match activity profile.
 54. Themethod of claim 49, wherein the adapter further comprises: an inputdevice, wherein the method further comprises: selecting a user activityusing the input device; sending the user activity to the controller viathe communication link; and sending a control signal to the actuator asa function of the user activity.
 55. The method of claim 54, wherein themethod further comprises; sending a sensor output to the controller viathe communication link; and sending the control signal to the actuatoras a function of the sensor output and the user activity.
 56. The methodof claim 52, wherein the sensor is a pressure sensor.
 57. The method ofclaim 40, wherein the method further comprises: coordinating theselection of a physical feature alignment marking location on a liner, atarget area marking location on the liner, and a physical feature of thetarget in such a way that the user can locate the paddle for optimaltissue compression; marking a liner with the physical feature alignmentmarking and the target area marking; and wearing the liner over thetarget area and the nonpaddle area in such a way that the physicalfeature alignment marking aligns with the physical feature of thetarget.
 58. The method of claim 40, wherein the compressing devicefurther comprises: a compression rod having a first rod end and a secondrod end; and a support device, wherein the method further comprises:connecting the first compression rod end to the paddle; and connectingthe second compression rod end to the support device in such a way thatthe compression rod imparts the optimal tissue compression.
 59. Themethod of claim 58, wherein the support device is an orthotic device.60. The method of claim 58, wherein the support device is an orthopedicdevice.
 61. The method of claim 58, wherein the support device is anexoskeletal device.
 62. A method for engaging a target comprising:choosing a first paddle having an inner surface and a second paddlehaving an inner surface from a plurality of paddles of different shapesin such a way that the inner surface of the first paddle issubstantially coextensive with a first target area and the inner surfaceof a second paddle is substantially coextensive with a second targetarea; pressing with a compressing device coupled to the first and secondpaddles so that the inner surfaces impart an optimal tissue compressionto the first and second target areas and the compressing device impartssubstantially no compression to nonpaddle areas; and wherein thenonpaddle area include relief areas.
 63. The method of claim 62, whereinthe compressing device comprises an adapter.
 64. The method of claim 63,wherein the compressing device further comprises an external tool havinga compression bar, wherein the method further comprises: connecting thecompression bar to one of the paddles; and operating the compression barto move the paddle inwardly or outwardly from the adapter side.
 65. Themethod of claim 63, wherein the adapter further comprises: an adapterside; and a paddle adjustment mechanism, wherein the method furthercomprises: connecting the paddle adjustment mechanism to one of thepaddles and the adapter in such a way that the action of the paddleadjustment mechanism moves the paddle inwardly or outwardly from theadapter side.
 66. The method of claim 65, wherein the paddle adjustmentmechanism further comprises: a slidable coupling; and a fine adjustmentmechanism, wherein the method further comprises: selecting an initialcompression on the target area using the slidable coupling; andimparting the optimal tissue compression to the target area using thefine adjustment mechanism.
 67. The method of claim 66, wherein thepaddle includes: a first paddle end for connecting the paddle adjustmentmechanism; and a second paddle end, wherein the method furthercomprises: connecting a stabilizer to a portion of the paddle atapproximately the second paddle end.
 68. The method of claim 67, whereinthe method further comprises attaching a prosthetic device to theadapter.
 69. The method of claim 68, wherein the first paddle is aflared paddle.
 70. The method of claim 64, wherein the adapter furthercomprises: a rotatable connector; and a paddle coupling, wherein themethod further comprises: connecting one of the paddles to the rotatableconnector using the paddle coupling; and operating the rotatableconnector to rotate the paddle in such a way as to impart the optimaltissue compression to the target area.
 71. The method of claim 62,wherein each paddle includes: a first paddle end; and a second paddleend, wherein the method further comprises: connecting a tube from a pumpto a stabilizer cuff; connecting the compressing device to the paddlesat the first paddle end; connecting the stabilizer cuff to a portion ofthe first and second paddles at approximately the second paddle end; andsending a control signal to the pump via the communication link topressurize the stabilizer cuff via the tube as a function of the controlsignal.
 72. The method of claim 64, wherein the external tool furthercomprises: an actuator; a controller; and a communication link, whereinthe method further comprises: connecting the actuator to a compressionbar; generating a control signal to cause the actuator to move thecompression bar inwardly or outwardly from the adapter side; and sendingthe control signal from the controller to the actuator via thecommunication link.
 73. The method of claim 72 wherein the controllerfurther comprises a controller memory: wherein the external tool furthercomprises a sensor, wherein the method further comprises: storing in thecontroller memory an expected sensor value associated with the optimaltissue compression; receiving from the sensor a sensor output to thecontroller via the communication link; determining a difference betweenthe sensor output and the expected sensor value associated with theoptimal tissue compression; and modifying the control signal as afunction of the difference between the sensor output and the expectedsensor value associated with the optimal tissue compression.
 74. Themethod of claim 62, wherein the method further comprises: coordinatingthe selection of a magnet strength of a magnet attached to a liner, amagnetic field sensor sensitivity of a magnetic field sensor attached toone of the paddles, a physical feature on the target, and the magnetlocation on the liner in such a way that the magnetic field sensoroutputs a display signal to the display only when the inner surface ofthe paddle is substantially aligned with the target area; and wearingthe liner over the target area and the nonpaddle area in such a way thatthe magnet aligns with the physical feature of the target.
 75. Themethod of claim 64, wherein the adapter further comprises: an adapterside; and a paddle adjustment mechanism, wherein the method furthercomprises: connecting the paddle adjustment mechanism to one of thepaddles and the adapter in such a way that the action of the paddleadjustment mechanism moves the paddle inwardly or outwardly from theadapter side.
 76. The method of claim 75, wherein the paddle adjustmentmechanism further comprises: a slidable coupling; and a fine adjustmentmechanism, wherein the method further comprises: selecting an initialcompression on the target area using the slidable coupling; andimparting the optimal tissue compression to the target area using thefine adjustment mechanism.
 77. The method of claim 76, wherein thepaddle includes: a first paddle end for connecting the paddle adjustmentmechanism; and a second paddle end, wherein the method furthercomprises: connecting a stabilizer to a portion of the paddle atapproximately the second paddle end.
 78. The method of claim 77, whereinthe method further comprises attaching a prosthetic device to theadapter.
 79. A kit for fitting the system of claim 26.